The autonomous onboard navigation system of a Mars exploration robot should be designed to meet mission-specific constraints on energy consumption, memory and computation power, and time costs. The objective of this research is to study dynamic path planning algorithms and their implementation techniques, and to improve the existing navigation software developed in ED RES at CNES. Firstly, binary heap trees are introduced in the management structures of the path planning module to reduce computation time. Secondly, the actual A~* algorithm for local path planning is replaced by Fringe Retrieving A~* which reuses previous-step information to fasten the search process. Finally, D~* Lite algorithm is applied for the global path planning when a-priori information on the global navigation map is available (provided by an orbiter, for example). All developed algorithms have been implemented, tested and evaluated in the CNES EDRES environment.
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机译：火星探测机器人的自主车载导航系统应设计成能够满足特定任务对能源消耗，内存和计算能力以及时间成本的限制。这项研究的目的是研究动态路径规划算法及其实现技术，并改进在CNES ED RES中开发的现有导航软件。首先，在路径规划模块的管理结构中引入二叉堆树以减少计算时间。其次，用于边缘路径规划的实际A〜*算法被Fringe Retrieving A〜*（边缘检索A〜*）取代，该算法重用了先前的信息以加快搜索过程。最后，当全球导航地图上的先验信息可用时（例如，由轨道飞行器提供），将D〜* Lite算法应用于全局路径规划。所有开发的算法均已在CNES EDRES环境中实施，测试和评估。
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